A paint stacking robot capable of quick installation and dismounting

Abstract

The application relates to a paint stacking robot with quickly-mountable and detachable clamps, comprising a base and a mechanical arm mechanism for adjusting the position of the clamps, characterized in that the mechanical arm mechanism is mounted on the base, a mounting mechanism for quickly mounting the clamps is mounted on the mechanical arm mechanism, a support mechanism is arranged on the mounting mechanism, a clamping mechanism for clamping paint barrels is arranged on the support mechanism, and the mechanical arm mechanism, the mounting mechanism and the clamping mechanism are electrically connected with the base. The clamps are quickly mounted by the clamping mechanism and the support mechanism, then the support mechanism is quickly mounted on the mechanical arm mechanism through the structure on the mounting mechanism, so that the clamps are quickly mounted, when the clamps are detached, the mounting mechanism works, the components on the mounting mechanism are separated from the support mechanism, and the clamps are quickly detached, so that the purpose of quick mounting and detachment is achieved, and the clamps are convenient to replace and overhaul.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a paint palletizing robot with a quick-installation and disassembly of grippers. Background Technology

[0002] Currently, in the field of industrial robot technology, palletizing robots are widely used in material handling and stacking operations in industries such as logistics, chemicals, and food. As the manufacturing industry upgrades towards flexibility and intelligence, production scenarios place higher demands on the rapid switching capability of robot end effectors. This is especially true in industries such as coatings and chemicals, which are characterized by strong corrosiveness and multi-variety, small-batch production, where it is necessary to frequently change grippers to adapt to the gripping needs of different specifications of barrels or boxes.

[0003] Traditional palletizing robots mostly use bolt-fixed clamp installation structures, which require manual repeated tightening of bolts for disassembly and replacement during replacement.

[0004] Regarding the aforementioned technologies, the repeated tightening and loosening of bolts to replace fixtures and the repeated disassembly of bolts can cause severe wear and slippage of the bolts. In addition, the operation is time-consuming and labor-intensive, thus affecting work efficiency. Utility Model Content

[0005] To address the problem that repeated bolt tightening and clamp replacement, which leads to severe bolt wear and slippage, and is time-consuming and labor-intensive, thus affecting work efficiency, this application provides a paint palletizing robot with quick clamp installation and removal.

[0006] This application provides a paint palletizing robot with rapidly installable and disassembled clamps, employing the following technical solution: A paint palletizing robot capable of quickly installing and disassembling grippers includes a base and a robotic arm mechanism for adjusting the position of the grippers. The robotic arm mechanism is mounted on the base, and an installation mechanism for quickly installing the grippers is mounted on the robotic arm mechanism. A support mechanism is provided on the installation mechanism. A clamping mechanism for holding paint buckets is provided on the support mechanism. The robotic arm mechanism, the installation mechanism, and the clamping mechanism are all electrically connected to the base.

[0007] By adopting the above technical solution, a clamping mechanism and a support mechanism are used to form a fixture. The support mechanism is then quickly installed on the robotic arm mechanism through the structure on the mounting mechanism, thereby enabling rapid installation of the fixture. During disassembly, the mounting mechanism is activated to detach the components on the mounting mechanism from the support mechanism for rapid disassembly, thus achieving the purpose of rapid installation and disassembly and facilitating the replacement and maintenance of the fixture.

[0008] Preferably, the robotic arm mechanism includes a first robotic arm for connecting to a base, a second robotic arm for extending a clamp, and a third robotic arm for adjusting the clamp and connected to the clamp. One end of the first robotic arm is connected to the base, the other end of the first robotic arm is connected to one end of the second robotic arm, the other end of the second robotic arm is connected to the third robotic arm, and the third robotic arm is connected to the clamping mechanism through a mounting mechanism and a support mechanism.

[0009] By adopting the above technical solution and using a three-stage robotic arm serial structure, a progressive motion transmission chain is formed. The first robotic arm serves as the base joint and achieves basic positioning through high torque drive; the second robotic arm serves as the extension arm to complete the work radius expansion; and the third robotic arm serves as the end effector adjustment unit. Through the coordinated movement of the three robotic arms, a multi-degree-of-freedom motion system including radial extension, axial rotation, and pitch angle adjustment is constructed. Actual measurement data shows that this structure can cover the cylindrical coordinate workspace and saves space compared to traditional three-axis Cartesian coordinate robotic arms.

[0010] Preferably, the end of the third robotic arm away from the second robotic arm is connected to a rotating component, and the rotating component is connected to the mounting mechanism.

[0011] By adopting the above technical solution, and by setting a rotating component in the third robotic arm, the clamp can be rotated and changed through the rotating component, so that the clamp can be adjusted in position according to needs, making it convenient to hold the paint bucket.

[0012] Preferably, the mounting mechanism includes a mounting block for connecting to a rotating component, a connecting plate connected to the mounting block, a telescopic drive component connected to the connecting plate, the telescopic drive component being electrically connected to the base, and a movable plate connected to the end of the telescopic drive component away from the connecting plate; a locking rod connected to the movable plate; and the locking rod cooperating with a support mechanism.

[0013] By adopting the above technical solution, the telescopic drive is activated, which moves the moving plate, which in turn moves the locking rod. This causes the support mechanism to lock onto the mounting block, and then the locking rod is reset so that it engages with the connector on the support mechanism, thus installing and fixing the support mechanism. This achieves the effect of quick installation. Similarly, during disassembly, the telescopic drive is activated to disengage the locking rod from the support mechanism, allowing for quick disassembly.

[0014] Preferably, the support mechanism includes a locking block for cooperating with the locking rod, the locking block having a slot for cooperating with the locking rod, a support plate for supporting the clamping mechanism connected to the locking block, and two fixing plates for mounting the clamping mechanism connected to the support plate.

[0015] By adopting the above technical solution, the support mechanism is installed by having the locking block on the connecting plate and the locking rod inserted into the buckle. The support plate can provide support for the clamping mechanism, making the clamping mechanism stable on the support plate.

[0016] Preferably, the clamping mechanism includes a drive motor, the side of the drive motor near the fixed plate is connected to the fixed plate, the output end of the drive motor is connected to a bidirectional screw, the two ends of the bidirectional screw are rotatably connected to the fixed plate, a moving block is threadedly connected to the surface of the bidirectional screw, and a clamping rod is connected to one side of the moving block.

[0017] By adopting the above technical solution, the drive motor is started, which drives the bidirectional screw to rotate. The bidirectional screw drives the moving block to move, and the moving block drives the clamping rod to move, so that the clamping rod clamps the paint buckets, enabling the paint buckets to be stacked, which is convenient for users.

[0018] Preferably, the clamping mechanism further includes a guide assembly, which is used in conjunction with the moving block. The guide assembly includes a connecting block, a guide post, and a guide block. The side of the connecting block closest to the fixed plate is connected to the fixed plate. Both ends of the guide post are connected to the connecting block. The guide block is disposed on the guide post and is connected to the moving block.

[0019] By adopting the above technical solution, the guide block is driven by the moving block to slide on the guide post, so that the guide block guides the moving block horizontally, preventing the moving block from rotating when it rotates with the bidirectional screw, making it easier for the moving block to move when it rotates with the bidirectional screw, and making the horizontal movement of the moving block stable.

[0020] Preferably, the base is provided with four fixing bolts, which are distributed at the four corners of the base.

[0021] By adopting the above technical solution, the base can be installed and fixed, preventing changes in the position of the base and ensuring its stability.

[0022] In summary, this application includes at least one of the following beneficial technical effects: By activating the telescopic drive, the telescopic drive moves the moving plate, which in turn moves the locking rod, causing the support mechanism to lock onto the mounting block. Then, the locking rod is reset and locked into the connector on the support mechanism, thus installing and fixing the support mechanism. This achieves the effect of quick installation. Similarly, during disassembly, the telescopic drive is activated to disengage the locking rod from the support mechanism, allowing for quick disassembly of the support mechanism. Start the drive motor, which drives the bidirectional screw to rotate. The bidirectional screw drives the moving block to move, and the moving block drives the clamping rod to move, so that the clamping rod can clamp the paint buckets and stack them for easy use by the user. The guide block slides on the guide post by moving the guide block, so that the guide block guides the moving block horizontally, preventing the moving block from rotating when it rotates with the bidirectional screw, making it easier for the moving block to move when it rotates with the bidirectional screw, and making the horizontal movement of the moving block stable. Attached Figure Description

[0023] Figure 1 This is a front-view 3D view of a paint palletizing robot; Figure 2 This is a rear-view 3D view of the paint palletizing robot; Figure 3 This is a three-dimensional schematic diagram of the robotic arm mechanism; Figure 4 It is a schematic diagram of the cooperative structure of the installation mechanism, support mechanism and clamping mechanism; Figure 5 It is a partial sectional three-dimensional structural diagram of the installation mechanism.

[0024] Reference numerals: 100, base; 110, fixing bolt; 200, robotic arm mechanism; 210, first robotic arm; 220, second robotic arm; 230, third robotic arm; 240, rotating component; 300, mounting mechanism; 310, mounting block; 320, connecting plate; 330, telescopic drive component; 340, moving plate; 350, clamping rod; 400, support mechanism; 410, support plate; 420, fixing plate; 430, clamping block; 500, clamping mechanism; 510, drive motor; 520, bidirectional screw; 530, moving block; 540, clamping rod; 550, connecting block; 560, guide column; 570, guide block. Detailed Implementation

[0025] The following is in conjunction with the appendix Figure 1 -Appendix Figure 5 This application will be described in further detail.

[0026] This application discloses a paint palletizing robot with a quick-installation and disassembly of clamps.

[0027] Reference Figure 1 and Figure 2A paint palletizing robot with quick-installation and disassembly of clamps includes a base 100 for support, a robotic arm mechanism 200 for adjusting the position and direction of the clamps, an installation mechanism 300 for quick installation and disassembly of the clamps, a support mechanism 400 for clamp support, and a clamping mechanism 500 for gripping paint. One end of the robotic arm mechanism 200 is rotatably mounted on the base 100, and the other end is connected to the installation mechanism 300. The installation mechanism 300 is connected to the support mechanism 400, and the support mechanism 400 is connected to the clamping mechanism 500. The base 100, robotic arm mechanism 200, installation mechanism 300, and clamping mechanism 500 are all controlled by a control cabinet. The robotic arm mechanism 200 adjusts the position of the clamps to reach the paint position for gripping. Simultaneously, the installation mechanism 300 quickly installs and disassembles the clamps formed by the clamping mechanism 500 and the support mechanism 400, facilitating user replacement and maintenance, saving time and effort, and improving replacement efficiency.

[0028] refer to Figure 3 The robotic arm mechanism 200 includes a first robotic arm 210 for connection to the base 100, a second robotic arm 220 for extending the clamp, a third robotic arm 230 for adjusting the clamp and connected to the clamp, and a rotating component 240 for adjusting the clamp. One end of the first robotic arm 210 is rotatably connected to the base 100, the other end of the first robotic arm 210 is rotatably connected to one end of the second robotic arm 220, the other end of the second robotic arm 220 is rotatably connected to one end of the third robotic arm 230, the other end of the third robotic arm 230 is connected to the rotating component 240, and the rotating component 240 is connected to the mounting mechanism 300. The first robotic arm 210 serves as a base joint, achieving basic positioning through high-torque drive. The second robotic arm 220 serves as an extension arm to expand the working radius. The third robotic arm 230 serves as an end effector adjustment unit. Through the coordinated movement of the three robotic arms, a multi-degree-of-freedom motion system including radial extension, axial rotation, and pitch angle adjustment is constructed. Fixing bolts 110 are installed at each of the four corners of the base 100. The base 100 can be installed and fixed by the fixing bolts 110 to make the base 100 stable and reduce the change of position of the base 100.

[0029] refer to Figure 4 and Figure 5The installation mechanism 300 includes a mounting block 310 for connection with the rotating member 240, a connecting plate 320 for support, a telescopic drive member 330 for clamp installation drive, a movable plate 340, and a locking rod 350 for clamp installation limit; wherein the mounting block 310 is mounted on the rotating member 240, the bottom of the mounting block 310 is fixedly connected to the connecting plate 320, one end of the telescopic drive member 330 is fixedly connected to the connecting plate 320, the other end of the telescopic drive member 330 is fixedly connected to the movable plate 340, and the side of the movable plate 340 near the mounting block 310 is fixedly connected to the locking rod 350, and the locking rod 350 engages with the mounting block 240. The clamp is installed inside the mounting block 310. By activating the telescopic drive 330, the locking rod 350 is disengaged from the mounting block 310, and then the connecting piece on the support mechanism 400 is locked onto the mounting block 310. Then, the telescopic drive 330 is activated to retract, and the telescopic drive 330 drives the locking rod 350 to insert into the mounting block 310, so that the locking rod 350 fixes the connecting piece on the support mechanism 400, thereby installing and fixing the clamp composed of the support mechanism 400 and the clamping mechanism 500. When disassembling, the telescopic drive 330 is activated in the same way to disengage the locking rod 350 from the support mechanism 400, and the clamp can be removed, thereby achieving the purpose of quick installation and disassembly.

[0030] Reference 4 and Figure 5 The support mechanism 400 includes a support plate 410 for supporting the clamping mechanism 500, a fixing plate 420 for mounting the clamping mechanism 500, and a locking block 430 for cooperating with the mounting block 310. The locking block 430 is locked onto the mounting block 310 on the mounting mechanism 300. The side of the locking block 430 away from the mounting block 310 is fixedly connected to the support plate 410, and the side of the fixing plate 420 close to the support plate 410 is fixedly connected to the support plate 410. By setting the support plate 410 and the fixing plate 420, the clamping mechanism 500 can be provided with mounting support, enabling the clamping mechanism 500 to work and reducing the impact on the operation of the clamping mechanism 500. The clamping mechanism 500 includes a drive motor 510 for clamping drive, a bidirectional screw 520, a moving block 530, a clamping rod 540, and a guide assembly. The drive motor 510 is mounted on a fixed plate 420, the bidirectional screw 520 is mounted between two fixed plates 420, the output end of the drive motor 510 is fixedly connected to the bidirectional screw 520, both ends of the bidirectional screw 520 are rotatably connected to the fixed plates 420, the moving block 530 is threadedly connected to the bidirectional screw 520, and one end of the clamping rod 540 near the moving block 530 is fixedly connected to the moving block 530. The guide assembly is mounted on the moving block 530 and the fixed plate 420. The drive motor 510 drives the bidirectional screw 520 to rotate, which in turn drives the moving block 530 to move, which in turn drives the clamping rod 540 to move, enabling the clamping rod 540 to clamp the coating. The guiding assembly includes a connecting block 550, a guide post 560, and a guide block 570. The connecting block 550 is mounted on a fixed block, the guide post 560 is mounted between two connecting blocks 550, and the guide block 570 is sleeved on the guide post 560. The side of the guide block 570 closest to the moving block 530 is fixedly connected to the moving block 530. The moving block 530 drives the guide block 570 to slide on the guide post 560, thereby horizontally limiting the moving block 530. This makes it easier for the moving block 530 to move when it rotates with the bidirectional screw 520, and makes the horizontal movement of the moving block 530 more stable.

[0031] The implementation principle of this application embodiment is as follows: During implementation, when the fixture needs to be installed, the telescopic drive component 330 on the installation mechanism 300 drives the moving plate 340 to move, and the moving plate 340 drives the locking rod 350 to move, causing the locking rod 350 to disengage from the installation block 310, so that the locking block 430 on the support mechanism 400 is locked onto the installation block 310 of the installation mechanism 300. Then, the telescopic drive component 330 is activated, and the telescopic drive component 330 drives the moving plate 340 to move, and the moving plate 340 drives the locking rod 350 to lock into the slot on the locking block 430, thus installing the support mechanism 400. This allows for the quick installation of the fixture composed of the support mechanism 400 and the clamping mechanism 500. At the same time, during disassembly, the telescopic drive component 330 is activated, and the telescopic drive component 330 and the locking rod 350 disengage from the locking block 430. Then, the fixture formed by the support mechanism 400 and the clamping mechanism 500 can be directly removed, thereby achieving the purpose of quick disassembly, which is relatively time-saving and labor-saving.

[0032] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A paint palletizing robot with rapidly installable and disassembled grippers, comprising a base (100) and a robotic arm mechanism (200) for adjusting the position of the grippers, characterized in that, The robotic arm mechanism (200) is mounted on the base (100). The robotic arm mechanism (200) is equipped with a mounting mechanism (300) for quick installation of the clamp. The mounting mechanism (300) is provided with a support mechanism (400). The support mechanism (400) is provided with a clamping mechanism (500) for clamping the paint bucket. The robotic arm mechanism (200), the mounting mechanism (300) and the clamping mechanism (500) are all electrically connected to the base (100). The mounting mechanism (300) includes a mounting block (310) for connection with a rotating component (240), a connecting plate (320) connected to the mounting block (310), a telescopic drive component (330) connected to the connecting plate (320), the telescopic drive component (330) being electrically connected to the base (100), and a movable plate (340) connected to one end of the telescopic drive component (330) away from the connecting plate (320); a locking rod (350) is connected to the movable plate (340); the locking rod (350) is used in conjunction with the support mechanism (400); The support mechanism (400) includes a locking block (430) for cooperating with the locking rod (350). The locking block (430) has a slot for cooperating with the locking rod (350). The locking block (430) is connected to a support plate (410) for supporting the clamping mechanism (500). The support plate (410) is connected to two fixing plates (420) for installing the clamping mechanism (500).

2. The paint palletizing robot with rapidly installable and disassembled clamps according to claim 1, characterized in that, The robotic arm mechanism (200) includes a first robotic arm (210) for connection to a base (100), a second robotic arm (220) for extending a clamp, and a third robotic arm (230) for adjusting the clamp and connected to the clamp. One end of the first robotic arm (210) is connected to the base (100), and the other end of the first robotic arm (210) is connected to one end of the second robotic arm (220). The other end of the second robotic arm (220) is connected to the third robotic arm (230). The third robotic arm (230) is connected to the clamping mechanism (500) through a mounting mechanism (300) and a support mechanism (400).

3. A paint palletizing robot with rapidly installable and disassembled clamps according to claim 2, characterized in that, The third robotic arm (230) has a rotating component (240) connected to one end away from the second robotic arm (220), and the rotating component (240) is connected to the mounting mechanism (300).

4. A paint palletizing robot with rapidly installable and disassembled clamps according to claim 1, characterized in that, The clamping mechanism (500) includes a drive motor (510), the drive motor (510) is connected to the fixed plate (420) on the side near the fixed plate (420), the output end of the drive motor is connected to a bidirectional screw (520), the two ends of the bidirectional screw (520) are rotatably connected to the fixed plate (420), the surface of the bidirectional screw (520) is threaded with a moving block (530), and one side of the moving block (530) is connected to a clamping rod (540).

5. A paint palletizing robot with rapidly installable and disassembled grippers according to claim 1, characterized in that, The clamping mechanism (500) further includes a guide assembly, which works in conjunction with the moving block (530). The guide assembly includes a connecting block (550), a guide post (560), and a guide block (570). The side of the connecting block (550) closest to the fixed plate (420) is connected to the fixed plate (420). Both ends of the guide post (560) are connected to the connecting block (550). The guide block (570) is mounted on the guide post (560) and is connected to the moving block (530).

6. A paint palletizing robot with rapidly installable and disassembled clamps according to claim 1, characterized in that, The base (100) is provided with four fixing bolts (110), which are distributed at the four corners of the base (100).

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